From Formalised State Machines to Implementations of Robotic Controllers

Wei Li*, Alvaro Miyazawa, Pedro Ribeiro, Ana Cavalcanti, Jim Woodcock, Jon Timmis

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter

6 Citations (SciVal)


Controllers for autonomous robotic systems can be specified using state machines. However, these are typically developed in an ad hoc manner without formal semantics, which makes it difficult to analyse the controller. Simulations are often used during the development, but a rigorous connection between the designed controller and the implementation is often overlooked. This paper presents a state-machine based notation, RoboChart, together with a tool to automatically create code from the state machines, establishing a rigorous connection between specification and implementation. In RoboChart, a robot’s controller is specified either graphically or using a textual description language. The controller code for simulation is automatically generated through a direct mapping from the specification. We demonstrate our approach using two case studies (self-organized aggregation and swarm taxis) in swarm robotics. The simulations are presented using two different simulators showing the general applicability of our approach.

Original languageEnglish
Title of host publicationDistributed Autonomous Robotic Systems
EditorsRoderich Groß, Andreas Kolling, Spring Berman, Emilio Frazzoli, Alcherio Martinoli, Fumitoshi Martinoli, Melvin Gauci
PublisherSpringer Nature
Number of pages13
ISBN (Electronic)978-3-319-73008-0
ISBN (Print)978-3-319-73006-6
Publication statusPublished - 2018

Publication series

NameSpringer Proceedings in Advanced Robotics
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264


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